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 *  Author : Dula Nad
 *  Created: 01.02.2013.
 *********************************************************************/
#include "OceanInfo.hpp"
#include <geometry_msgs/QuaternionStamped.h>
#include <osgUtil/IntersectVisitor>

using namespace plugin;

OceanInfo::OceanInfo(osg::ref_ptr<osgOceanScene> oscene, const std::string& target,
		const std::string& topic, int rate):
		ROSPublisherInterface(topic,rate),
		oscene(oscene),
		target(target)
{
	findNodeVisitor findNode(target);
	oscene->getScene()->accept(findNode);
	node = findNode.getFirst();

	if (!node)
	{
		throw std::runtime_error("OceanInfo: cannot find " + target + " target.");
	}
};

void OceanInfo::createPublisher(ros::NodeHandle& nh)
{
  ROS_INFO("OceanInfo publisher on topic %s",topic.c_str());
  waveHeight = nh.advertise<geometry_msgs::Quaternion>(topic, 1);
}

void OceanInfo::publish()
{
	geometry_msgs::Quaternion data;
	osg::Vec3f pos=getWorldCoords(node)->getTrans(), normal;

	//\todo handle this better, for now assume wave height is less than 100m peak-to-peak :)
	//\todo When they implement the function oscene->getOceanScene()->getOceanSurfaceHeightAt(x,y) replace this
	osg::LineSegment* line = new osg::LineSegment(osg::Vec3(pos.x(), pos.y(), oscene->getOceanScene()->getOceanSurfaceHeight() + 50) ,
	             osg::Vec3(pos.x(), pos.y(), oscene->getOceanScene()->getOceanSurfaceHeight()-50));
	osgUtil::IntersectVisitor visitor;
	visitor.addLineSegment(line);
	oscene->getOceanScene()->getOceanTechnique()->accept(visitor);
	osgUtil::IntersectVisitor::HitList hitList = visitor.getHitList(line);
	std::cout<<"Hit list size:"<<hitList.size()<<std::endl;
	if (hitList.size())
	{
		data.w = hitList.front().getWorldIntersectPoint().z();
		osg::Vec3f normal = hitList.front().getWorldIntersectNormal();
		data.x = normal.x();
		data.y = normal.y();
		data.z = normal.z();
	}
	waveHeight.publish(data);
}




